I am detecting an aruco marker and spawn an object at the detected pose. Inside the planning scene, I have a robot arm (panda arm) and my objects will be spawned next to the robot. My code works perfectly fine, whenever I use the "ADD" Operation for my collision objects. However, as soon as I start using the "MOVE" operation, the object just get's moved into the origin inside the base of my robot (either it gets spawned inside the origin, or it get's stuck inside the robot somehow). I am clueless on how this happens and wonder if anybody experienced a similar error while using the "MOVE" operation?

Here is my code. It was inspired by another thread: https://answers.ros.org/question/276194/how-to-change-position-of-collision-object-in-moveit/:

int main(int argc, char** argv){
ros::init(argc, argv, "bins_tracker");
ros::NodeHandle node; 
ros::AsyncSpinner spinner(1);
spinner.start();

 // Name of the planning Group
 static const std::string PLANNING_GROUP = "panda_arm";

//Use MoveGroupInterface
moveit::planning_interface::MoveGroupInterface move_group_interface(PLANNING_GROUP);

 tf::TransformListener listener; //tf listener & transformations
 tf::StampedTransform t_bin1;

 std::vector<moveit_msgs::CollisionObject> collision_objects; //vector of objects
std::vector<std::string> object_ids; //vector of strings (names of objects)
object_ids.push_back("Bin1");
moveit::planning_interface::PlanningSceneInterface planning_scene_interface; //planning interface
ros::Duration(2.0).sleep();

moveit_msgs::CollisionObject bin; //Create an object msg

bin.header.frame_id = move_group_interface.getPlanningFrame();

shape_msgs::SolidPrimitive primitive;
primitive.type = primitive.BOX;
primitive.dimensions.resize(3);
primitive.dimensions[0] = 0.1;
primitive.dimensions[1] = 0.05;
primitive.dimensions[2] = 0.03;  

geometry_msgs::Pose box_pose;
box_pose.orientation.w = 1.0;
box_pose.orientation.x= 0;
box_pose.orientation.y= 0;
box_pose.orientation.z= 0;
box_pose.position.x = 0.0;
box_pose.position.y = 0.0;
box_pose.position.z = 1.1;

bin.primitives.push_back(primitive);
bin.primitive_poses.push_back(box_pose);

bin.operation = bin.ADD; //add object to collisions 

bin.id =object_ids[0]; //rename object 
collision_objects.push_back(bin); //you can insert different objects using a vector of collision objects
ros::Duration(2.0).sleep();

planning_scene_interface.addCollisionObjects(collision_objects); //add objects to planning interface
ros::Duration(2.0).sleep();

bin.primitives.clear(); //Clear mesh required for MOVE operation (Only to avoid a warning)
bin.operation = bin.MOVE; //change operation to MOVE
//works perfectly fine whenever I use "bin.ADD"

//check whether frame is being published, debugging purpose
ros::Duration timeout(5.0); // Timeout after 5 seconds
if (listener.waitForTransform("world", "aruco_marker_frame", ros::Time(0), timeout)) {
    ROS_INFO("Transform between world and aruco_marker_frame is available.");
} else {
    ROS_WARN("Timeout waiting for transform between world and aruco_marker_frame.");
    return 1; // Exit if the transform is not available within the timeout duration
}

double desired_frequency = 10.0; // 10 Hz
ros::Rate loop_rate(desired_frequency);

while (node.ok()){
    //Listen to tfs
    try{
// Wait for the "world" frame to become available

        listener.lookupTransform("world", "aruco_marker_frame", ros::Time(0), t_bin1);
        ROS_INFO("here is the pose %f", t_bin1.getOrigin().x());
    }

        catch (tf::TransformException ex){
        ROS_WARN("%s",ex.what());
    }

    collision_objects.clear(); //clear previous data in the vector

    bin.id = object_ids[0]; //bin 1 
    bin.primitive_poses[0].position.x = t_bin1.getOrigin().x(); //set pose
    bin.primitive_poses[0].position.y = t_bin1.getOrigin().y();
    bin.primitive_poses[0].position.z = t_bin1.getOrigin().z();
    bin.primitive_poses[0].orientation.w= t_bin1.getRotation().w();
    bin.primitive_poses[0].orientation.x= t_bin1.getRotation().x();
    bin.primitive_poses[0].orientation.y= t_bin1.getRotation().y();
    bin.primitive_poses[0].orientation.z= t_bin1.getRotation().z();

    collision_objects.push_back(bin); // add to vector

    planning_scene_interface.applyCollisionObjects(collision_objects); //apply changes to planning interface

    loop_rate.sleep(); 
}
planning_scene_interface.removeCollisionObjects(object_ids); //delete objects from planning interface*/

ros::shutdown(); //turn off
return 0;
}